Adjustable Mirror Robot Camera Multi-Vantage Imaging
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Solution Overview
Problem
Existing robotic camera systems struggle to capture images from multiple vantages efficiently, as they often rely on fixed camera configurations or time-consuming navigation, which can lead to inaccurate localization and limited access in certain environments.
Innovation Solution
The use of adjustable mirrors in robotic camera systems allows for independent adjustment of vantage points without requiring robot locomotion or camera sensor pose changes, enabling the capture of multiple images from different angles and determining features like depth and edge features for improved mapping and localization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If stereographic cameras with fixed camera configurations are used, then multiple images from different vantages can be captured, but the baseline and pan/tilt angles remain fixed and cannot be adjusted
Solution Approach 1:
The patent applies the dynamics principle by making the mirror pose adjustable rather than fixed. The mirror can be positioned at different angles and locations to change the vantage point of captured images, allowing the system to adapt to different imaging requirements without redesigning the entire camera structure.
Solution Approach 2:
The patent uses a mirror as an intermediary element between the fixed camera sensor and the environment. By adjusting the mirror's pose, the system can redirect light paths to capture images from multiple vantages, effectively decoupling the camera's physical position from the imaging perspectives.
2Measurement precision
If mobile robots navigate to change camera vantage, then multiple images from different vantages can be captured, but localization becomes difficult, slow, and inaccurate
Solution Approach 1:
The patent replaces the mechanical navigation approach with an optical solution using adjustable mirrors. Instead of moving the robot body to change vantage points, the system uses mirror adjustment to redirect light paths, achieving the same imaging goal without physical displacement and thus avoiding localization errors.
Solution Approach 2:
The patent creates virtual copies of different camera positions through mirror reflections. By adjusting the mirror pose, the single camera sensor can capture images that appear as if taken from multiple different locations, eliminating the need for actual physical movement.
3Adaptability or versatility
If mobile robots navigate to capture images from multiple vantages, then different perspectives can be obtained, but navigation may not be desirable or possible when engaged in certain tasks
Solution Approach 1:
The patent enables dynamic adjustment of mirror pose while the robot remains stationary and engaged in tasks. This allows the system to capture images from multiple vantages without interrupting ongoing operations, maintaining productivity while achieving multi-perspective imaging.
4Measurement precision
If fixed baseline stereographic cameras are used, then 3D location of surfaces can be determined, but the fixed vantages limit flexibility in capturing diverse environmental features
Solution Approach 1:
The patent introduces dynamic mirror pose adjustment to the stereographic camera system. By varying the mirror position and angle, the system can capture images from multiple different vantages while maintaining the stereo imaging capability needed for 3D reconstruction, thus enhancing both precision and flexibility.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the accuracy and efficiency of feature determination by reducing errors associated with robot localization and allowing for more comprehensive environmental mapping without the need for extensive navigation, while also enabling feature assignment to identifiers for tasks like obstacle avoidance and navigation.
Implementation Method 1
multiple images, that each capture a portion of an environment from a different vantage, may be captured by a camera sensor of a robot via the adjustment of one or more mirrors viewable by the camera sensor
Data Source
AI summary
Using mirrors to capture, by a camera of a robot, images that capture portions of an environment from multiple vantages. In various implementations, multiple images, that each capture a portion of an environment from a different vantage, may be captured by a camera sensor of a robot via the adjustment of one or more mirrors viewable by the camera sensor—and the multiple images may be captured independent of locomotion of the robot and/or independent of adjusting a camera sensor pose of that camera sensor. One or more processors associated with the robot may utilize the multiple images to determine one or more features about those portions of the environment captured from different vantages in the images.